Does a 17 teen year old need to be emancipated to leave home in VA?

Or could someone who is better fit to take care of the minor take legal guardianship over ?

I have a sister who's 17 and we need to move out of our parents house because we have been neglected and abused our whole lives,we have a stable working friend who's also stable and kind family will take us in,but they can't until my sister is either emancipated or at least our parents can't legally control her anymore.